模拟火星任务的数字双胞胎:研究GNSS拒绝环境的本地定位替代方案
Benjamin Reimeir1,2, Amelie Leininger3, Raimund Edlinger4
1Institute of Mechatronics, University of Innsbruck, 6020 Innsbruck, Austria.
Sensors (Basel, Switzerland)
|August 14, 2025
概括
数字双胞胎通过整合宇航员和火星车数据来增强火星任务规划. 替代本地化方法对GPS被拒绝的环境有希望,提高了安全性和科学回报.
科学领域:
- 太空探索技术的技术
- 机器人和自动化机器人与自动化
- 人与机器人的交互
背景情况:
- 行星探索任务需要强大的人机交互,以确保宇航员的安全和科学发现.
- 数字双胞胎正在成为模拟和优化复杂操作的关键工具,例如车外活动 (EVA).
研究的目的:
- 为AMADEE-24模拟火星任务开发和评估一个数字双胞胎.
- 评估替代本地定位方法,以提高全球导航卫星系统 (GNSS) 拒绝的环境中的数字双胞胎实用性.
主要方法:
- 来自Aouda太空服模拟器的综合遥测,惯性测量单元运动捕捉 (IMU-MoCap) 和直观的探测器操作和采集样本 (iROCS) 的探测器传感器数据.
- 基于同时定位和绘图 (SLAM) 的探测器定位和IMU-MoCap用于宇航员定位.
- 与全球定位系统 (GPS) 和自适应集群检测相比,性能比较.
主要成果:
- 开发的数字双胞胎成功重建了所有九个实验运行.
- 基于SLAM的探测器定位和IMU-MoCap宇航员定位的性能与GPS相当.
- 自适应集群检测显示出更大的偏差,而IMU-MoCap由于测量中断而需要间歇性GPS重新校准.
结论:
- 替代本地化技术,特别是SLAM和IMU-MoCap,可用于在GNSS拒绝的场景中实现数字双胞胎集成.
- 这些方法具有显著的潜力,可以提高未来行星探索任务的可靠性和有效性.
- 需要进一步改进IMU-MoCap,以解决无集成的测量限制.
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